Nonlinear receding horizon control of an underactuated hovercraft

被引：44
|
作者：
Seguchi, H
Ohtsuka, T
机构：
[1] Osaka Univ, Grad Sch Engn, Dept Comp Controlled Mech Syst, Suita, Osaka 5650871, Japan
[2] Toyota Motor Co Ltd, Component & Syst Dev Ctr, Higashifuji Tech Ctr, Shizuoka 4101193, Japan
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2003年 / 13卷 / 3-4期
关键词：
hovercraft; nonlinear receding horizon control; real-time optimization; discrete-valued input;
D O I：
10.1002/rnc.824
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes nonlinear receding horizon control of an underactuated hovercraft with discrete-valued inputs and its hardware implementation. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero thrusts. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete-valued inputs approximated by constrained continuous-valued inputs. Although nonlinear receding horizon control requires real-time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment. Copyright (C) 2003 John Wiley Sons, Ltd.
引用
收藏
页码：381 / 398
页数：18
相关论文
共 50 条
  • [1] Nonlinear receding horizon control of an underactuated hovercraft with a multiple-shooting-based algorithm
    Shimizu, Yuichi
    Ohtsuka, Toshiyuki
    Diehl, Moritz
    [J]. PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, 2006, : 332 - +
  • [2] Nonlinear receding horizon control of an RC hovercraft
    Seguchi, H
    Ohtsuka, T
    [J]. PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2, 2002, : 1076 - 1081
  • [3] Nonlinear control of an underactuated nonholonomic hovercraft with limited control inputs
    Chaos, Dictino
    Moreno-Salinas, David
    Munoz, Rocio
    Aranda, Joaquin
    [J]. REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2013, 10 (04): : 402 - 412
  • [4] Stabilization of a nonlinear underactuated hovercraft
    Fantoni, I
    Lozano, R
    Mazenc, F
    Petterson, KY
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2000, 10 (08) : 645 - 654
  • [5] Receding horizon control for the stabilization of nonlinear systems
    Gyurkovics, E
    [J]. ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND MECHANIK, 1996, 76 : 447 - 448
  • [6] Trajectory Control of Underactuated Hovercraft
    Zhao, Jingbo
    Pang, Jinmei
    [J]. 2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 3904 - 3907
  • [7] Stability and robustness of nonlinear receding horizon control
    De Nicolao, G
    Magni, L
    Scattolini, R
    [J]. NONLINEAR MODEL PREDICTIVE CONTROL, 2000, 26 : 3 - 22
  • [8] RECEDING HORIZON CONTROL OF NONLINEAR-SYSTEMS
    MAYNE, DQ
    MICHALSKA, H
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1990, 35 (07) : 814 - 824
  • [9] Stability of receding horizon control of nonlinear systems
    Costa, EF
    do Val, JBR
    [J]. 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 2077 - 2081
  • [10] Receding Horizon Formation Tracking Control of Constrained Underactuated Autonomous Underwater Vehicles
    Li, Huiping
    Xie, Pan
    Yan, Weisheng
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (06) : 5004 - 5013
12345